#pragma once

#include <iostream>
#include <chrono>
#include <functional>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"

using namespace std::chrono_literals;
using std::placeholders::_1;

class DebugLidarNode : public rclcpp::Node{
    public:
        DebugLidarNode();
        ~DebugLidarNode();

    private:
        // 激光雷达订阅函数
        void lidarCallback(const sensor_msgs::msg::LaserScan::SharedPtr msg);

    private:
        rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr lidar_sub_;
        std::string scan_topic_;
};